CN117775570A

CN117775570A - Fork mechanism, goods access arrangement and storage logistics system

Info

Publication number: CN117775570A
Application number: CN202311836799.3A
Authority: CN
Inventors: 张囝; 张雷; 陈英; 王真
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2023-12-28
Filing date: 2023-12-28
Publication date: 2024-03-29

Abstract

The present disclosure relates to a fork mechanism, a cargo access device, and a warehouse logistics system. The Fork Mechanism (FM) comprises: a mounting frame (10); a hook assembly (20) movably arranged on the mounting frame (10), wherein the hook assembly (20) comprises a hook body (21), and the hook body (21) is provided with a hook part (211) for hooking the Goods (GS); and a first driving assembly (30) in driving connection with the hooking assembly (20), configured to drive the hooking assembly (20) to move along a first direction (dr 1) so as to achieve a hooking action on the Goods (GS) in the first direction (dr 1) through the hooking portion (211).

Description

Fork mechanism, goods access arrangement and storage logistics system

Technical Field

The disclosure relates to the field of logistics, in particular to a fork mechanism, a goods storing and taking device and a warehouse logistics system.

Background

In the material box warehouse-in and warehouse-out system, the material box is transferred between the pallet fork and the pallet warehouse position by adopting the pallet fork. In some related art, access forks include pinch forks and lift forks. The clamping fork extends out of the fork plates at two sides of the goods, and the goods are clamped between the fork plates and the swing arms through the swing arms on the fork plates, so that the goods can be transferred by applying transverse pushing force or pulling force to the goods. The lifting fork supports and lifts the goods through the lifting mechanism to cooperate with the transverse driving mechanism to realize the transfer of the goods.

Disclosure of Invention

The inventor finds that the clamping type fork and the lifting type fork in the related technology have requirements on the space between the material boxes stored by the goods shelves or the height of the goods shelf layers, so that higher storage density of the goods shelves is not easy to realize, and the fork has slower speed of storing and taking goods and lower efficiency.

In view of this, the embodiment of the disclosure provides a fork mechanism, a goods storing and taking device and a warehouse logistics system, which are beneficial to realizing higher storage density of a goods shelf.

In one aspect of the present disclosure, there is provided a fork mechanism comprising:

a mounting frame;

the hook component is movably arranged on the mounting frame and comprises a hook body, and the hook body is provided with a hook part for hooking and pulling goods; and

the first driving assembly is in driving connection with the hook assembly and is configured to drive the hook assembly to move along a first direction so as to achieve the hooking action on the goods in the first direction through the hooking part.

In some embodiments, the hook body further has a pushing part for pushing the cargo, and the first driving assembly is further configured to drive the hook assembly to move along a second direction so as to realize a pushing effect on the cargo in the second direction through the pushing part.

In some embodiments, the hooking portion and the pushing portion are located on opposite sides of the hooking body in the first direction, and the second direction is an opposite direction of the first direction.

In some embodiments, the hook assembly includes a bracket and at least one set of hooks connected to the bracket, each set of hooks including a single hook or a plurality of hooks on the same side of the bracket.

In some embodiments, the at least one set of hooks comprises a first set of hooks and a second set of hooks, the first set of hooks being located on a side of the bracket away from the second set of hooks along the first direction, the second set of hooks being located on a side of the bracket away from the first set of hooks along the second direction;

wherein the first drive assembly is configured to:

the hook component is driven to move along the first direction, so that the hook pulling action on the goods in the first direction is realized through the hook pulling parts of the first group of hook bodies, or the pushing action on the goods in the first direction is realized through the pushing parts of the second group of hook bodies; and/or

The hook component is driven to move along the second direction, so that the pushing action of the first group of hook bodies on the goods in the second direction is realized, or the hooking action of the second group of hook bodies on the goods in the second direction is realized through the hooking parts of the second group of hook bodies.

In some embodiments, the at least one set of hooks comprises a single set of hooks;

wherein the first drive assembly is configured to:

the hook assembly is driven to move along the first direction, so that the hook pulling action on the goods in the first direction is realized through the hook pulling part of the single-group hook body at a first rotating position, or the pushing action on the goods in the first direction is realized through the pushing part of the single-group hook body at a second rotating position, wherein the single-group hook body is rotated to switch between the first rotating position and the second rotating position, and the single-group hook body at the first rotating position and the single-group hook body at the second rotating position are centrally symmetrical; and/or

The hook assembly is driven to move along the second direction, so that the pushing action on the goods in the second direction is realized through the pushing part of the single-group hook body at a third rotating position, or the hooking action on the goods in the second direction is realized through the hooking part of the single-group hook body at a fourth rotating position, wherein the single-group hook body is rotated to switch between the third rotating position and the fourth rotating position, and the single-group hook body at the third rotating position and the single-group hook body at the fourth rotating position are centrosymmetric.

In some embodiments, the hooking portion is configured to enter or leave a hooked portion of the cargo in a direction intersecting both the first direction and the second direction.

In some embodiments, the hooking portion is configured to enter a hooked portion of the cargo in a vertically upward direction.

In some embodiments, the first drive assembly comprises:

the hook seat is connected with the hook component; and

the first power element is connected with the hook seat through a first linear transmission structure and is configured to drive the hook seat to move along the first direction or the second direction through the first linear transmission structure.

In some embodiments, the first linear drive structure comprises:

the transmission wheel set is arranged on the mounting frame and is connected with the first power element; and

the transmission belt is wound on the transmission wheel set and is fixedly connected with the hook seat.

In some embodiments, the first drive assembly further comprises:

the first linear guide structure is arranged between the hook seat and the mounting frame and is configured to guide the hook seat to move relative to the mounting frame in the first direction or the second direction.

In some embodiments, the first linear guide structure comprises:

the first sliding rail is arranged on the mounting frame and extends along the first direction; and

the first sliding block is arranged on the hook seat and is in sliding fit with the first sliding rail.

In some embodiments, the fork mechanism further comprises:

a second driving component, which is in driving connection with the hook component or the first driving component and is configured to drive the hook component to move along a third direction or the opposite direction of the third direction;

wherein the third direction is perpendicular to the first direction.

In some embodiments, the first direction is parallel to a horizontal plane and the third direction is parallel to a vertical direction.

In some embodiments, the first drive assembly includes a hook seat coupled to the hook assembly, and the second drive assembly includes:

the second power element is in driving connection with the hook component and is configured to drive the hook component to move relative to the hook seat.

In some embodiments, the second power element comprises:

the first lead screw penetrates through the motor, is provided with a first motor shell fixedly connected with the hook seat and a first lead screw penetrating through the first motor shell, one end of the first lead screw is connected with the hook assembly, and the other end of the first lead screw penetrates through the hook seat.

In some embodiments, the second drive assembly further comprises:

and the second linear guide structure is arranged between the hook seat and the hook component and is configured to guide the hook component to move relative to the hook seat in the third direction or the opposite direction of the third direction.

In some embodiments, the second linear guide structure comprises:

the second sliding rail is arranged on the hook component and extends along the third direction; and

the second sliding block is arranged on the hook seat and is in sliding fit with the second sliding rail.

In some embodiments, the fork mechanism further comprises:

and the transmission assembly is arranged on the mounting frame and is configured to transmit goods along the first direction or the second direction.

In some embodiments, the time ranges in which the transport assembly and the hook assembly respectively act on the cargo are configured to be misaligned.

In some embodiments, the time ranges in which the transport assembly and the hook assembly respectively act on the cargo are configured to at least partially coincide.

In some embodiments, the transfer assembly is located on an upper side of the mounting bracket, and the fork mechanism further comprises:

and the second driving assembly is in driving connection with the hook assembly or the first driving assembly and is configured to drive the hook assembly to move along a third direction or the direction opposite to the third direction so as to extend and retract the hook assembly relative to the transmission surface of the transmission assembly.

In some embodiments, the transmission assembly comprises: the hook assembly is positioned between the paired conveying members or at one side of at least one conveying member far away from the other conveying member.

In some embodiments, the fork mechanism further comprises:

a bracket;

wherein the mounting bracket is fixedly, detachably or movably disposed on the bracket.

In some embodiments, the fork mechanism further comprises:

and the third driving assembly is arranged on the bracket, is in driving connection with the mounting frame and is configured to drive the mounting frame to move along the first direction or the opposite direction of the first direction relative to the bracket.

In some embodiments, the third drive assembly comprises:

a third power element is coupled to the mount and configured to drive movement of the mount relative to the bracket.

In some embodiments, the third power element comprises:

the second lead screw penetrates through the motor, the motor is provided with a second motor shell fixedly connected with the bracket and a second lead screw penetrating through the second motor shell, and two ends of the second lead screw are connected with the mounting frame.

In some embodiments, the third drive assembly further comprises:

and a third linear guide structure disposed between the bracket and the mounting frame and configured to guide movement of the mounting frame relative to the bracket in the first direction or a direction opposite to the first direction.

In some embodiments, the third linear guide structure comprises:

the third sliding rail is arranged on the mounting frame and extends along the first direction; and

and the third sliding block is arranged on the bracket and is in sliding fit with the third sliding rail.

In one aspect of the present disclosure, there is provided a cargo access apparatus comprising:

the fork mechanism.

In some embodiments, the cargo access apparatus further comprises:

at least two first tracks arranged at intervals in at least one direction; and

at least two second rails movably arranged along the at least two first rails by a travelling mechanism;

wherein the fork mechanism is movably disposed along the at least two second rails.

In one aspect of the present disclosure, there is provided a warehouse logistics system comprising:

a goods shelf; and

the goods storing and taking device is arranged on the goods shelf.

Therefore, according to the embodiment of the disclosure, the first driving component is in driving connection with the hook component, and the hook component is driven to move along the first direction, so that the hook portion of the hook body in the hook component can achieve the hook pulling effect on the goods in the first direction, and the hook body can hook the goods on the side facing the goods to enable the goods to move along the first direction. Compared with clamping type forks and lifting type forks in the related art, the hook component does not need to clamp or lift cargoes, so that the requirements on the space between cargoes and the height of the cargoes in the cargoes can be reduced, and higher storage density of the goods shelves can be realized.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

The disclosure may be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic diagram of some embodiments of a warehouse logistics system in accordance with the present disclosure;

FIG. 2 is a schematic diagram of the mounting structure of a shelf-mounted cargo access apparatus in accordance with an embodiment of the warehouse logistics system of the present disclosure;

FIG. 3 is a schematic structural view of some embodiments of a cargo access apparatus according to the present disclosure;

FIG. 4 is a schematic structural view of some embodiments of a fork mechanism according to the present disclosure;

FIG. 5 is a schematic view of a structure carrying cargo in accordance with an embodiment of a fork mechanism of the present disclosure;

FIG. 6 is a schematic diagram of a cargo applied in accordance with an embodiment of the fork mechanism of the present disclosure;

FIG. 7 is a schematic diagram of a pallet fork mechanism embodiment according to the present disclosure for pulling a load in a first direction;

FIG. 8 is a schematic diagram of a pallet fork mechanism embodiment according to the present disclosure pushing a load in a second direction;

FIG. 9 is a schematic diagram of the mounting structure of the hook assembly and the first and second drive assemblies in accordance with an embodiment of the fork mechanism of the present disclosure;

fig. 10 is a schematic view of the mounting structure of fig. 9 with a part of the structure omitted;

FIG. 11 is a schematic view of the mounting structure of the mounting bracket and the first drive assembly in accordance with an embodiment of the fork mechanism of the present disclosure;

FIG. 12 is a schematic view of the mounting structure of the hook assembly and the second drive assembly in accordance with an embodiment of the fork mechanism of the present disclosure;

FIG. 13 is a schematic view of the mounting structure of FIG. 12 with the hook assembly driven by the second drive assembly to extend in a third direction;

FIG. 14 is a schematic view of the mounting structure of the carriage and the third drive assembly in accordance with an embodiment of the fork mechanism of the present disclosure;

FIG. 15 is a rotational schematic view of a single set of hooks in accordance with an embodiment of the fork mechanism of the present disclosure;

FIGS. 16 and 17 are schematic views of a hookable location for accessing cargo in different directions, respectively, in accordance with embodiments of the fork mechanism of the present disclosure;

FIGS. 18 and 19 are schematic views of different relative positions between a pair of transfer members and a hook assembly in accordance with embodiments of the fork mechanism of the present disclosure;

fig. 20 (a) - (d) are perspective views of a pallet fork mechanism according to an embodiment of the present disclosure, respectively, pulling and pushing a load in a first direction and pulling and pushing a load in a second direction;

FIGS. 21 (a) - (f) are respectively schematic diagrams of a process for transferring cargo on a cargo space to a fork mechanism according to an embodiment of the fork mechanism of the present disclosure;

fig. 22 (a) - (e) are respectively schematic diagrams of a process for transferring cargo on a fork mechanism to a cargo space according to embodiments of the fork mechanism of the present disclosure.

It should be understood that the dimensions of the various elements shown in the figures are not drawn to actual scale. Further, the same or similar reference numerals denote the same or similar members.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that: the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments should be construed as exemplary only and not limiting unless otherwise specifically stated.

The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

In this disclosure, when a particular device is described as being located between a first device and a second device, there may or may not be an intervening device between the particular device and either the first device or the second device. When it is described that a particular device is connected to other devices, the particular device may be directly connected to the other devices without intervening devices, or may be directly connected to the other devices without intervening devices.

All terms (including technical or scientific terms) used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In some related art, access forks include pinch forks and lift forks. The clamping fork extends out of the fork plates at two sides of the goods, and the goods are clamped between the fork plates and the swing arms through the swing arms on the fork plates, so that the goods can be transferred by applying transverse pushing force or pulling force to the goods. The lifting fork supports and lifts the goods through the lifting mechanism to cooperate with the transverse driving mechanism to realize the transfer of the goods.

In one aspect of the present disclosure, there is provided a fork mechanism comprising: a mounting frame; the hook component is movably arranged on the mounting frame and comprises a hook body, and the hook body is provided with a hook part for hooking and pulling goods; and the first driving assembly is in driving connection with the hook assembly and is configured to drive the hook assembly to move along a first direction so as to achieve the hooking action on the goods in the first direction through the hooking part.

In this embodiment, the first driving component is in driving connection with the hook component, and the hook component is driven to move along the first direction, so that the hook portion of the hook body in the hook component can achieve a hook effect on the goods in the first direction, and the hook body can hook the goods on one side facing the goods to enable the goods to move along the first direction. Compared with clamping type forks and lifting type forks in the related art, the hook component does not need to clamp or lift cargoes, so that the requirements on the space between cargoes and the height of the cargoes in the cargoes can be reduced, and higher storage density of the goods shelves can be realized.

Fig. 1 is a schematic structural view of some embodiments of a warehouse logistics system in accordance with the present disclosure. Referring to fig. 1, an embodiment of the present disclosure provides a warehouse logistics system including a rack SR and a cargo access apparatus. The shelves SR may be arranged in a single-layer or multi-layer configuration, and each layer of shelves SR may be provided with one or more cargo spaces (i.e., cargo storage spaces) for storing the cargo GS. The goods spaces can be separated from each other or communicated with each other. The plurality of cargo spaces of each layer may be arranged in at least one direction, for example one direction parallel to the horizontal plane or two directions orthogonal to each other.

The goods storing and taking device is arranged on the goods shelf SR, and can be used for taking out the goods GS on the appointed goods position of the goods shelf SR and can also be used for sending the goods GS into the appointed goods position of the goods shelf SR. The goods handling device can be moved relative to the goods shelves SR, for example to a position adjacent to the place of the goods shelves SR, in order to pick up goods GS from a temporary storage location of the goods shelves SR (for example a lower goods location on the goods shelves SR) or from a transport vehicle TV running on the place, or to feed goods GS taken out of the goods shelves SR into a temporary storage location of the goods shelves SR (for example a lower goods location on the goods shelves SR) or onto a transport vehicle TV running on the place. The transfer vehicle TV can send the goods GS transported by it to the temporary storage position of the shelf SR, or take the temporary storage position of the shelf SR off and transport it away.

The warehouse logistics system may include a single shelf SR or multiple shelves SR as shown in fig. 1. The plurality of shelves SR may be arranged at intervals, and an operation space of the cargo storing and taking device may be formed between the adjacent shelves SR. One or more cargo access devices may be provided between adjacent shelves SR. The plurality of cargo storing and taking devices may be provided on one of the adjacent shelves SR, or may be provided on both of the adjacent shelves SR.

Fig. 2 is a schematic diagram of an installation structure of a cargo access device on a shelf in an embodiment of a warehouse logistics system in accordance with the present disclosure. Fig. 3 is a schematic structural view of some embodiments of a cargo access apparatus according to the present disclosure. Referring to fig. 2 and 3, an embodiment of the present disclosure provides a cargo access apparatus including a fork mechanism FM. In the warehouse logistics system embodiment of the present disclosure, the cargo access device may be disposed on the shelf SR. In other embodiments, the cargo access device may be used in, but is not limited to, a warehouse logistics system.

Referring to fig. 2 and 3, in some embodiments, the cargo access apparatus may further include: at least two first tracks TR1 and at least two second tracks TR2. At least two first tracks TR1 are arranged at intervals in at least one direction, and at least two second tracks TR2 are movably provided along the at least two first tracks TR1 by a running mechanism TM. The fork mechanism FM is movably arranged along the at least two second rails TR2.

In fig. 2 and 3, the cargo access means may comprise two first tracks TR1 extending in a transverse direction and two second tracks TR2 extending in a vertical direction. The two first tracks TR1 are arranged at intervals in the vertical direction. The first rail TR1 may be mounted on or formed by the frame of the shelf SR. For example, in fig. 2, the frame cross member of the highest layer of the shelf SR and the frame cross member of the layer adjacent to the place of the shelf SR may be respectively used as the two first rails TR1.

The two second rails TR2 are arranged at intervals in the lateral direction, and the fork mechanism FM may have ends movably connected to the two rails TR2, respectively, and be located at a side of the running plane formed by the two second rails TR away from the shelf SR. And the fork mechanism FM can be located between the two second rails TR2 so that the load GS passes through the gap between the two second rails TR2.

Fig. 4 is a schematic structural view of some embodiments of a fork mechanism according to the present disclosure. Fig. 5 is a schematic view of a structure carrying cargo in accordance with an embodiment of a fork mechanism of the present disclosure. Fig. 6 is a schematic diagram of a cargo applied in accordance with an embodiment of the fork mechanism of the present disclosure. Fig. 7 is a schematic diagram of a pallet fork mechanism embodiment according to the present disclosure for pulling a load in a first direction.

Referring to fig. 4, 5 and 7, the disclosed embodiments provide a fork mechanism FM. In the disclosed cargo handling device embodiments, the cargo handling device includes a fork mechanism FM. In other embodiments, the fork mechanism FM may be, but is not limited to being, applied in a cargo access apparatus.

In the disclosed embodiment, the fork mechanism FM includes a mounting bracket 10, a hook assembly 20, and a first drive assembly 30. The hook assembly 20 is movably disposed on the mounting frame 10, and the hook assembly 20 includes a hook body 21, and the hook body 21 has a hooking portion 211 for hooking the cargo GS. The first driving component 30 is in driving connection with the hook component 20, and is configured to drive the hook component 20 to move along a first direction dr1, so as to achieve a hooking action on the cargo GS in the first direction dr1 through the hooking portion 211.

The mounting frame 10 may be configured to facilitate installation of the hook assembly 20 and the first drive assembly 30 and to reduce or eliminate the risk of interference with the mounting frame 10 during operation of the hook assembly 20. In other embodiments, the mounting frame 10 may take other forms, such as a plate-type structure or a box-type structure.

The hook body 21 in the hook assembly 20 can achieve the hook pulling of the cargo GS, and accordingly, the hook body 21 has a hook pulling portion 211. The hook 21 may be L-shaped, U-shaped or otherwise shaped. The hooking portion 211 can enter the hooking portion HP from at least one side of the hooking portion HP of the goods GS so as to reach the position where the goods GS can be hooked.

Fig. 6 shows a cargo GS in the form of a container with an interior space that can hold whole or interspersed items. A hooking groove as a hooking part HP may be provided on the outer wall of the cargo GS so that the hooking part 211 of the hooking body 21 performs a hooking action on the cargo GS by hooking the inner wall of the hooking groove. The hooking groove can be a groove fixed on the side surface of the goods through a sheet metal part or a plastic part, and can be formed by integral injection molding with the container.

Referring to fig. 7, the hook 21 may be moved along the first direction dr1 under the driving of the first driving component 30, and accordingly, the hooking portion 211 of the hook 21 may apply a force F in the first direction dr1 to the hooked portion HP of the cargo GS, so that the cargo GS may travel along the first direction dr1 at a certain speed and acceleration.

Referring to the pallet shown in fig. 2, the fork mechanism FM can pull out the cargo GS in the cargo space onto the fork mechanism FM by the hooking portion 211 of the hooking body 21. The hook 21 can hook the cargo GS at the side facing the cargo GS without acting on the cargo GS from the left and right sides, the rear side or the bottom side of the cargo GS as in the clamping fork and the lifting fork in the related art to realize the movement of the cargo GS, so that the requirements on the cargo space and the cargo space height in the cargo space can be reduced, thereby being beneficial to realizing higher storage density of the goods shelf.

In the business scenario of warehouse logistics, the first direction dr1 may be a direction from the shelf to the fork mechanism, and the direction may be parallel to a horizontal plane or form a preset included angle with the horizontal plane.

Fig. 8 is a schematic diagram of a fork mechanism embodiment according to the present disclosure pushing cargo in a second direction. Referring to fig. 8, in some embodiments, the hook 21 further has a pushing part 212 for pushing the goods GS. The first driving assembly 30 is further configured to drive the hook assembly 20 to move along the second direction dr2, so as to achieve a pushing effect on the cargo GS in the second direction dr2 by the pushing portion 212.

In the present embodiment, the first driving component 30 can drive the hook component 20 to move along the second direction dr 2. In some embodiments, the second direction dr2 may be the opposite direction of the first direction dr1, i.e., the second direction dr2 is parallel and opposite to the first direction dr 1. In other embodiments, the second direction dr2 may intersect the first direction dr1 at an acute angle, an obtuse angle, or a right angle.

The pushing portion 212 of the hook 21 can push the cargo GS under the driving of the hook assembly 20 by the first driving assembly 30. Referring to fig. 8, the pushing part 212 may act on the outside of the snapable portion HP of the goods GS, and by applying the force F in the second direction dr2, the goods GS may be moved in the second direction dr2 at a certain speed and acceleration. The pushing portion 212 may be, but not limited to, an outer portion of the snapable portion HP, or may be another position on a side of the goods GS facing the pushing portion.

For the embodiment in which the second direction dr2 is opposite to the first direction dr1, the hooking portion 211 and the pushing portion 212 may be located at opposite sides of the hook 21 in the first direction dr1, respectively. Referring to fig. 7 and 8, the left side surface of the bent structure of the l-shaped hook body may be used as the pushing portion 212, and the right side surface thereof may be used as the hooking portion 211, so that pushing and hooking operations of the structure of the cargo GS adjacent to one side of the hook body may be realized through the hook body, so that the cargo GS can be conveniently taken out and put into the cargo space, and the requirements on the cargo space and the cargo space height in the cargo space are further reduced, thereby being beneficial to realizing higher storage density of the goods shelf.

Fig. 9 is a schematic diagram of the mounting structure of the hook assembly and the first and second drive assemblies in accordance with an embodiment of the fork mechanism of the present disclosure. Fig. 10 is a schematic view of the mounting structure shown in fig. 9 with a part of the structure omitted. FIG. 11 is a schematic view of the mounting structure of the mounting bracket and the first drive assembly in accordance with an embodiment of the fork mechanism of the present disclosure.

Referring to fig. 9-11, in some embodiments, the first drive assembly 30 includes: hook seat 31 and first power element 32. The hook seat 31 is connected with the hook component 20. The first power element 32 is connected to the hook seat 31 through a first linear transmission structure 33, and is configured to drive the hook seat 31 to move along the first direction dr1 or the second direction dr2 through the first linear transmission structure 33.

The hook assembly 20 is connected to the hook seat 31, and when the hook seat 31 is driven by the first power element 32 through the first linear transmission structure 33 to move, the hook seat 31 also drives the hook assembly 20 to move correspondingly. The first power element 32 may include, but is not limited to, an electric or pneumatic motor or the like.

Referring to fig. 10 and 11, in some embodiments, the first linear drive structure 33 includes: a drive pulley set 331 and a drive belt 332. A driving wheel set 331 is disposed on the mounting frame 10 and connected to the first power element 32. The driving belt 332 is wound around the driving wheel set 331 and is fixedly connected with the hook seat 31.

The first power element 32 can output torque to part of the driving wheels in the driving wheel group 331 to drive the driving wheels to rotate, the driving belt 332 runs around the driving wheel group 331 under the driving of the driving wheels, and the hook seat 31 fixedly connected with the driving belt 332 correspondingly moves along with the driving belt 332. The first power element 32 may be disposed outside the first linear driving structure 33 so as not to interfere with the hook seat 31 and the hook assembly 20.

In other embodiments, the first linear drive 33 may take other forms of drive, such as a rack and pinion drive or a ball screw drive.

Referring to fig. 10, in some embodiments, the first drive assembly 30 further includes a first linear guide structure 34. A first linear guide structure 34 is disposed between the hooking seat 31 and the mounting frame 10 and configured to guide the movement of the hooking seat 31 relative to the mounting frame 10 in the first direction dr1 or the second direction dr 2.

The first linear guide structure 34 can assist the first linear transmission structure 33 to make the hook seat 31 move linearly along the first direction d1 or the second direction dr2 stably, so as to reduce the risk of dropping the cargo GS due to instability during the moving process.

Referring to fig. 10 and 11, in some embodiments, the first linear guide structure 34 includes: a first slide 341 and a first slider 342. The first sliding rail 341 is disposed on the mounting frame 10 and extends along the first direction dr 1. The first slider 342 is disposed on the hook base 31 and is slidably engaged with the first sliding rail 341.

A continuous sliding guide action can be formed between the first sliding rail 341 and the first slider 342, so that the movement of the hook seat 31 relative to the mounting frame 10 is smoother and more stable. In other embodiments, the first linear guide structure 34 may take other forms, such as an optical axis sleeve-mating guide structure, etc.

Referring to fig. 4, in some embodiments, the fork mechanism FM further includes a second drive assembly 40. A second drive assembly 40 is drivingly connected to the hook assembly 20 or the first drive assembly 30 and is configured to drive the hook assembly 20 to move in a third direction dr3 or an opposite direction of the third direction dr 3; wherein the third direction dr3 is perpendicular to the first direction dr 1.

The hook assembly 20 may be moved in the third direction dr3 or the opposite direction of the third direction dr3 by the direct driving of the second driving assembly 40 or the indirect driving of the second driving assembly 40 via the first driving assembly 30. The hook assembly 20 moves in the third direction dr3 or in the opposite direction to the third direction dr3, so as to avoid the cargo GS. Referring to fig. 5, the hook assembly 20 can be moved to the underside of the cargo GS when the cargo GS has arrived directly above the fork mechanism FM so as not to interfere with the support and movement of the cargo GS.

In some embodiments, the first direction dr1 is parallel to a horizontal plane, and the third direction dr3 is parallel to a vertical direction. That is, the hooking member 20 can perform a hooking action in a horizontal direction and reach or depart from a position where the goods GS can be hooked in a vertical direction. The hook assembly 20 can be further adjusted in position when the hook assembly 20 is vertically adjusted by cooperating with the driving of the first driving assembly 30 to the hook assembly 20, so that the hook assembly 20 can be adjusted in azimuth and distance relative to the cargo GS.

Fig. 12 is a schematic view of the mounting structure of the hook assembly and the second drive assembly in accordance with an embodiment of the fork mechanism of the present disclosure. Fig. 13 is a schematic view showing the second driving assembly driving the hook assembly to extend in a third direction in the mounting structure shown in fig. 12. Referring to fig. 4, 12 and 13, in some embodiments, the first drive assembly 30 includes a hook seat 31 in driving connection with the hook assembly 20, and the second drive assembly 40 includes a second power element 41. A second power element 41 is drivingly connected to the hook assembly 20 and is configured to drive the hook assembly 20 relative to the hook seat 31.

The second power element 41 may include an electric motor or an air motor, and the hook assembly 20 is moved in the third direction dr3 or the opposite direction of the third direction dr3 with respect to the hook seat 31 by driving the hook assembly 20.

Referring to fig. 12 and 13, in some embodiments, the second power element 41 comprises a first lead screw through motor. The first screw penetrating motor is provided with a first motor shell 411 fixedly connected with the hook seat 31 and a first screw 412 penetrating through the first motor shell 411, one end of the first screw 412 is connected with the hook assembly 20, and the other end of the first screw 412 penetrates through the hook seat 31.

The first lead screw 412 may be moved forward or backward in the extending direction of the first lead screw 412 when the first lead screw penetration motor is rotated forward or backward. By fixedly connecting the first lead screw with the hook seat 43 through the first motor housing 411 of the motor and connecting one end of the first lead screw 412 with the hook assembly 20, the hook assembly 20 can be driven to be far away from or close to the hook seat 43 when the first lead screw 412 moves relative to the first motor housing 411. The extending direction of the first screw 412 is parallel to the third direction dr 3. The length of the screw between the hooking seat 43 and the hooking component 20 of the screw penetrating motor can be reduced along with the length of the screw penetrating the hooking seat 31, which is beneficial to realizing a more compact structure. The first motor housing 411 can also form a support and limit for the hook assembly 20.

In order to more stably move the hook assembly 20 in the third direction dr3 or the opposite direction of the third direction dr3 with respect to the hook seat 31, referring to fig. 12 and 13, in some embodiments, the second driving assembly 40 further includes a second linear guide structure 42. A second linear guide structure 42 is disposed between the hook seat 31 and the hook assembly 20 and configured to guide movement of the hook assembly 20 relative to the hook seat 31 in the third direction dr3 or in a direction opposite to the third direction dr 3.

In fig. 12, the second linear guide structure 42 may include a second slide rail 421 and a second slider 422. The second sliding rail 421 is disposed on the hook assembly 20 and extends along the third direction dr 3. The second slider 422 is disposed on the hook seat 31 and slidably engaged with the second slide rail 421. The second slide rail 421 may be disposed on a bracket of the hook assembly 20 extending along the third direction dr3, or may be fixedly connected with the hook assembly 20 to serve as a bracket of the hook assembly 20.

The second slide rail 421 and the second slide block 422 can form a continuous sliding guiding function, so that the movement of the hook assembly 20 relative to the hook seat 31 is smoother and more stable. In other embodiments, the second linear guide structure 42 may take other forms, such as an optical axis sleeve-mating guide structure, etc.

Fig. 12 and 13 respectively show different relative positions of the second slide rail 421 and the second slider 422 and different relative distances between the hook seat 31 and the hook assembly 20 under the guidance of the second linear guide structure 42.

Referring to fig. 4, in some embodiments, the fork mechanism FM further includes a transfer assembly 50. A transfer assembly 50 is provided on the mounting frame 10 and is configured to transfer the goods GS in the first direction dr1 or the second direction dr 2. The hook assembly 20 and the transmission assembly 50 can act on the goods GS to enable the goods GS to move, so that the hook assembly 20 and the transmission assembly 50 can be properly configured according to actual needs, a more complex working process is realized, and adaptability to goods access under different scenes is improved.

In some embodiments, the time ranges in which the transport assembly 50 and the hook assembly 20 respectively act on the cargo GS are configured to be misaligned. For example, the cargo GS is first hooked by the hooking component 20, and then conveyed by the conveying component 50 after a predetermined hooking displacement. For example, the transporting assembly 50 transports the goods GS, and the hook assembly 30 pushes the goods GS after the transporting is performed with a predetermined displacement. This arrangement effectively reduces the risk of the transport assembly 50 and the hook assembly 20 interfering with each other.

In other embodiments, the time ranges in which the transport assembly 50 and the hook assembly 20 respectively act on the cargo GS are configured to at least partially coincide. For example, the cargo GS is transported in the same direction by the transport assembly 50 during at least a portion of the pulling of the cargo GS by the hook assembly 20. The cargo GS is pushed in the same direction by the hook assembly 30, for example, during at least a portion of the transfer of the cargo GS by the transfer assembly 50. The configuration mode can enable the transmission component 50 and the hook component 20 to act on the goods GS in the same direction, and promote driving force on the goods GS, thereby meeting driving requirements of heavier goods GS, correspondingly, the connection process that the transmission component 50 and the hook component 20 act on the goods GS respectively is easy to realize, and efficiency is improved.

Referring to fig. 4 and 5, in some embodiments, the transfer assembly 50 is positioned on the upper side of the mounting frame 10, and the fork mechanism FM further includes a second drive assembly 40. A second drive assembly 40 is drivingly connected to the hook assembly 20 or the first drive assembly 30 and is configured to drive the hook assembly 20 in a third direction dr3 or in a direction opposite to the third direction dr3 to extend and retract the hook assembly 20 relative to the conveying surface of the conveying assembly 50.

The conveyor assembly 50 may take the form of idlers, belts, or other structures that enable conveyance. In fig. 4 and 5, the transport assembly 50 employs two conveyor belts disposed side-by-side. The transfer assembly 50 on the upper side of the mounting frame 10 is used for supporting the cargo GS in addition to the transfer of the cargo GS, which includes the movement supporting effect of the transfer assembly 50 on the cargo GS when the hook assembly 20 acts on the cargo GS. The hook assembly 20 is then movable in the third direction dr3 or in a direction opposite to the third direction dr3 by the second driving assembly 40 to extend and retract with respect to the conveying surface of the conveying assembly 50.

When the hook assembly 20 protrudes with respect to the conveying surface of the conveying assembly 50, the hook assembly 20 can hook or push the cargo GS. When the hook assembly 20 is retracted relative to the conveying surface of the conveying assembly 50, the cargo GS can travel on the conveying surface without interfering with the hook assembly 20. In addition, the second driving assembly 40 can cooperate with the first driving assembly 30 to move the hook assembly 20 under the conveying surface of the conveying assembly 50 to adjust the position of the hook assembly when extended.

Fig. 14 is a schematic view of the mounting structure of the carriage and the third drive assembly in accordance with an embodiment of the fork mechanism of the present disclosure. Referring to fig. 4 and 14, in some embodiments, the fork mechanism FM further includes a bracket 60. The mounting frame 10 is fixedly, detachably or movably provided on the bracket 60. The carriage 60 may be movably arranged with the second track TR2 in the cargo access device embodiment. In fig. 14, the bracket 60 may include two L-shaped risers 61 and at least one cross plate 62 connecting the two L-shaped risers 61 and located between the two L-shaped risers 61. In fig. 14, two cross plates 62 are disposed at intervals along the first direction dr 1.

The mounting frame 10 may be fixedly connected to the bracket 60 (including both being integrally formed), so that the mounting frame 10 moves synchronously with the movement of the bracket 60. The mounting frame 10 may also be removable with respect to the bracket 60 so that maintenance and replacement may be facilitated by removing the mounting frame 10 and the structure thereon together from the bracket 60. The mounting frame 10 can also be movable relative to the bracket 60, so that the mounting frame 10 can be moved to a position with a preset distance from the goods shelf when the bracket 60 moves, interference between the fork mechanism FM and the goods shelf is avoided when the goods are required to be taken and placed, the mounting frame can be moved to a position adjacent to the goods shelf, the butt joint gap is reduced, and the risk that the goods are blocked or fall in the taking and placing process is reduced.

Referring to fig. 4 and 14, in some embodiments, the fork mechanism FM further includes a third drive assembly 70. A third drive assembly 70 is disposed on the carriage 60 and is in driving connection with the mounting frame 10 and is configured to drive the mounting frame 10 relative to the carriage 60 in the first direction dr1 or in a direction opposite to the first direction dr 1.

The mounting frame 10 is movable in the first direction dr1 or in a direction opposite to said first direction dr1 upon actuation of the third actuation assembly 70. The mounting frame 10 can thus be positionally adjusted in a direction in which the cargo GS moves in unison or in opposition to facilitate the transition of the cargo GS between the cargo space and the fork mechanism.

Referring to fig. 14, in some embodiments, the third drive assembly 70 includes a third power element 71. A third power element 71 is coupled to both the mount 10 and the carriage 60 and is configured to drive movement of the mount 10 relative to the carriage 60.

The third power element 71 may comprise an electric or pneumatic motor, the mounting frame 10 being moved in the first direction dr1 or in the opposite direction to the first direction dr1 with respect to the carrier 60 by driving the mounting frame 10.

In fig. 14, the third power element 71 may include a second lead screw through motor. The second screw penetrating motor has a second motor housing 711 fixedly connected to the bracket 60 and a second screw 712 penetrating the second motor housing 711, and both ends of the second screw 712 are connected to the mounting frame 10.

The second lead screw 712 may be moved forward or backward in the extending direction of the second lead screw 712 when the second lead screw penetration motor is rotated forward or backward. The second screw rod is fixedly connected with the transverse plate 62 of the bracket 60 through the second motor housing 711 of the motor, and two ends of the second screw rod 712 are connected with the mounting frame 10, so that the mounting frame 10 is driven to translate on the bracket 60 when the second screw rod 712 moves relative to the second motor housing 711. The extending direction of the second screw 712 is parallel to the first direction dr 1.

In order to more stably move the mounting frame 10 in the first direction dr1 or the opposite direction of the first direction dr1 relative to the bracket 60, referring to fig. 11 and 14, in some embodiments, the third driving assembly 70 further includes a third linear guide structure 72. A third linear guide structure 72 is provided between the carriage 60 and the mounting frame 10, configured to guide movement of the mounting frame 10 relative to the carriage 60 in the first direction dr1 or in a direction opposite to the first direction dr 1.

In fig. 11 and 14, the third linear guide structure 72 includes: a third slide 721 and a third slider 722. The third sliding rail 721 is disposed on the mounting frame 10 and extends along the first direction dr 1. A third slider 722 is disposed on the bracket 60 and is in sliding engagement with the third slide 721. The third slider 722 may be provided in plurality and distributed over at least two cross plates 62. A third slide 721 may be provided on the bottom surface of the mounting frame 10.

A continuous sliding guide action can be formed between the third slide 721 and the third slider 722, so that the movement of the mounting bracket 10 with respect to the bracket 60 is smoother and more stable. In other embodiments, the third linear guide structure 72 may take other forms, such as an optical axis sleeve-mating guide structure, etc.

In the above embodiment, the hook assembly 20 may include a bracket 22 and at least one set of hooks 21 connected to the bracket 22, where each set of hooks 21 includes a single hook 21 or a plurality of hooks 21 located on the same side of the bracket 22. Storage of single-side or different-side goods can be achieved through the arrangement of the hook body 21.

Referring to fig. 12, in some embodiments, the at least one set of hooks 21 includes a first set of hooks 21a and a second set of hooks 21b, the first set of hooks 21a being located on a side of the support 22 away from the second set of hooks 21b along the first direction dr1, and the second set of hooks 21b being located on a side of the support 22 away from the first set of hooks 21a along the second direction dr2. In fig. 12, the first set of hooks 21a includes two hooks 21a arranged at intervals along the fourth direction dr4, and the second set of hooks 21b includes two hooks 21b arranged at intervals along the fourth direction dr 4. Here the fourth direction dr4 is perpendicular to the third direction dr3 and perpendicular to the first direction dr1 or the second direction dr2.

The first driving component 30 can drive the hook component 20 to move along the first direction dr1, so as to achieve a hooking action on the goods GS in the first direction dr1 through the hooking parts 211 of the first set of hooks 21a, or achieve a pushing action on the goods GS in the first direction dr1 through the pushing parts 212 of the second set of hooks 21 b.

The first driving assembly 30 can also drive the hook assembly 20 to move along the second direction dr2, so as to push the cargo GS in the second direction dr2 by the pushing portion 212 of the first set of hooks 21a, or to pull the cargo GS in the second direction dr2 by the pulling portion 211 of the second set of hooks 21 b.

In an embodiment in which the first direction dr1 is opposite to the second direction dr2, the first driving component 30 may drive the hook component 20 to move along the first direction dr1, or may also move along a direction opposite to the first direction dr1, and achieve a pulling or pushing action on the cargo GS in the moving direction of the hook component 20, so as to implement a cargo access operation of the fork mechanism on different sides between adjacent racks.

Fig. 15 is a rotational schematic view of a single set of hooks in accordance with an embodiment of the fork mechanism of the present disclosure. Referring to fig. 15, in some embodiments, at least one set of hooks 21 comprises a single set of hooks 21. Accordingly, the first driving assembly 30 can drive the hook assembly 20 to move along the first direction dr1, so as to achieve a pulling action on the cargo GS in the first direction dr1 by the pulling portion 211 of the single set of hooks 21 in a first rotation position, or to achieve a pushing action on the cargo GS in the first direction dr1 by the pushing portion 212 of the single set of hooks 21 in a second rotation position, wherein the single set of hooks 21 are rotated to switch between the first rotation position and the second rotation position, and the single set of hooks 21 in the first rotation position and the single set of hooks 21 in the second rotation position are centrally symmetrical.

The first driving assembly 30 is also capable of driving the hook assembly 20 to move along the second direction dr2, so as to achieve a pushing action on the cargo GS in the second direction dr2 by the pushing portion 212 of the single-set hook 21 in a third rotation position, or to achieve a pulling action on the cargo GS in the second direction dr2 by the pulling portion 211 of the single-set hook 21 in a fourth rotation position, wherein the single-set hook 21 is rotated to switch between the third rotation position and the fourth rotation position, and the single-set hook 21 in the third rotation position and the single-set hook 21 in the fourth rotation position are centrosymmetric.

In fig. 15, the hooking or pushing of the left cargo GS can be achieved by showing the rotational position of the single set of hooks 21 on the left side of the bracket 22 in solid line form of the hooks 21. After 180 degrees of rotation, the single-group hook body 21 shown in a dotted line form is positioned at the right side of the bracket 22, so that the hook or push of the right-side cargo GS can be realized.

In the above embodiment, the hooking portion 211 can enter or leave the hooked portion HP of the cargo GS in a direction crossing both the first direction dr1 and the second direction dr 2. The direction of the hooking portion 211 entering the hooking portion HP may be perpendicular to the first direction dr1 or the second direction dr2, or may form an acute angle or an obtuse angle with the first direction dr1 and the second direction dr 2.

In fig. 7 and 8, the direction in which the hooking portion 211 enters the hooking portion HP of the cargo GS is the third direction dr3, and the direction away from the hooking portion HP is the opposite direction of the third direction dr 3. That is, in some embodiments, the hooking portion 211 is configured to enter the hooked portion HP of the cargo GS in a vertically upward direction. In this way, the hook assembly 20 can be matched with the transmission surface of the transmission assembly 50 to extend upwards to enter the hooked portion HP, and the hooked portion HP can be separated when the hook assembly is retracted downwards relative to the transmission surface of the transmission assembly 50, so that the operation is simplified, and the efficiency is improved.

Fig. 16 and 17 are schematic views of a hookable location accessing cargo in different directions, respectively, in accordance with embodiments of the fork mechanism of the present disclosure. Fig. 16 shows that two opposite hooking portions 211 of the hooking body 21 enter the hooked portion HP of the cargo GS in the fourth direction dr4 and the opposite direction of the fourth direction dr 4. Here, the fourth direction dr4 is perpendicular to the third direction dr3 and perpendicular to the first direction dr1 or the second direction dr 2.

Fig. 17 shows a case where the hooking portion 211 of the hooking body 21 enters the hooking portion HP of the cargo GS in the opposite direction of the third direction dr3, where the third direction dr3 may be a vertically upward direction.

Fig. 18 and 19 are schematic views of different relative positions between the paired transport members and the hook assembly in accordance with an embodiment of the fork mechanism of the present disclosure. Referring to fig. 4 and 18, in some embodiments, the transport assembly 50 includes a pair of transport members 51 disposed at intervals and a transport driving member 52 for driving the pair of transport members 51 to operate, and the hook assembly 20 is positioned between the pair of transport members 51. The hook assembly 20 thus operates between the pair of transport members 51 without interfering with the operation of the pair of transport members 51.

Referring to fig. 19, in other embodiments, the conveying members 50 include a pair of conveying members 51 disposed at intervals and a conveying driving member 52 for driving the pair of conveying members 51 to operate, and the hook assemblies 20 are positioned at a side of at least one conveying member 51 of the pair of conveying members 51 away from the other conveying member 51, for example, two hook assemblies 20 are respectively positioned at both sides of the pair of conveying members 51 shown in fig. 19 in the fourth direction dr 4.

In the above embodiments, in order to improve the operation stability, referring to fig. 4, the number of hooks included in each set of hooks included in the hook assembly may be paired and set at intervals along the fourth direction dr4, the combination of the rotating wheel set and the driving belt included in the first driving assembly may be paired and set at intervals along the fourth direction dr4, the transmission members included in the transmission assembly may also be paired and set at intervals along the fourth direction dr4, and the sliding rail slides included in the first, second and third linear guiding structures may also be paired and set at intervals along the fourth direction dr4, which will not be repeated herein.

Fig. 20 (a) - (d) are perspective views of a pallet fork mechanism according to an embodiment of the present disclosure, respectively, pulling and pushing a load in a first direction and pulling and pushing a load in a second direction. To facilitate an understanding of the pulling and pushing action of the embodiments of the fork mechanism of the present disclosure on the cargo, several situations are illustrated by (a) - (d) in fig. 20, respectively.

In fig. 20 (a), the fork mechanism performs a hooking operation on the cargo GS located on the left side of the fork mechanism, and at this time, the first set of hook bodies 21a of the hook assembly have entered the part where the cargo GS can be hooked, and the cargo GS is moved in the first direction dr1 by the driving of the first driving assembly 30, so that the cargo GS reaches above the conveying mechanism 50.

In fig. 20 (b), the fork mechanism pushes the cargo GS located at the left side of the fork mechanism, and at this time, the first set of hook bodies 21a of the hook assembly pushes the outer side of the drawable portion of the cargo GS, and the cargo GS is driven by the first driving assembly 30 to move along the second direction dr2, so as to distance the cargo GS from the conveying mechanism 50.

In fig. 20 (c), the fork mechanism performs a hooking operation on the cargo GS located on the right side of the fork mechanism, and at this time, the second set of hook bodies 21b of the hook assembly have entered the part where the cargo GS can be hooked, and the cargo GS is moved in the second direction dr1 by the driving of the first driving assembly 30, so that the cargo GS reaches above the conveying mechanism 50.

In fig. 20 (d), the fork mechanism pushes the cargo GS located on the right side of the fork mechanism, and at this time, the second set of hook bodies 21b of the hook assembly pushes the outer side of the drawable portion of the cargo GS, and the cargo GS is moved in the first direction dr1 by the driving of the first driving assembly 30, so as to separate the cargo GS from the conveying mechanism 50.

Fig. 21 (a) - (f) are respectively schematic diagrams of a process for transferring cargo on a cargo space to a fork mechanism according to an embodiment of the fork mechanism of the present disclosure. To facilitate an understanding of how the cargo GS within the cargo space on the shelf SR is transferred to the fork mechanism in the fork mechanism embodiment of the present disclosure, the process is illustrated by (a) - (f) in fig. 21.

In fig. 21 (a), the fork mechanism is moved to a position adjacent to the cargo space of the cargo GS to be fetched, at which time the transport surface of the transport mechanism 50 is substantially flush with the bottom surface of the cargo space. At this time, the hook assembly 20 moves under the conveying surface of the conveying mechanism 50 toward the cargo GS side.

In fig. 21 (b), the hook assembly 20 has been moved to a position adjacent to the cargo GS where the hook assembly 20 has been aligned substantially laterally with the hooking recess of the right side surface of the cargo GS. The hook assembly 20 translates upward and a portion of the hook assembly 20 is exposed above the conveying surface of the conveying mechanism 50.

In fig. 21 (c), the hook assembly 20 continues to translate upward and the hook pull portion enters the hooking recess of the cargo GS.

In fig. 21 (d), the hook assembly 20 moves rightward, bringing the cargo GS to the right, and thus, allowing a portion of the cargo GS to reach the transfer mechanism 50. The hook assembly 20 can be moved from the left end of travel of the fork mechanism to the right end of travel of the fork mechanism while the cargo GS still has a portion that does not reach the transfer mechanism 50.

In fig. 21 (e), the hook assembly 20 is moved downwardly, retracted below the conveying surface of the conveying mechanism 50, at which time the conveying mechanism 50 continues to convey the cargo GS to the right.

In fig. 21 (f), the entire cargo GS is positioned on the transport mechanism 50 by the transport action of the transport mechanism 50, and the cargo is taken out from the pallet.

Fig. 22 (a) - (e) are respectively schematic diagrams of a process for transferring cargo on a fork mechanism to a cargo space according to embodiments of the fork mechanism of the present disclosure. To facilitate an understanding of how the cargo GS on the fork mechanism is transferred to the cargo space on the shelf SR in the fork mechanism embodiment of the present disclosure, the process is illustrated by (a) - (e) in fig. 22.

In fig. 22 (a), the fork mechanism is moved to a position adjacent to the cargo space where the cargo GS is stored, at which time the transport surface of the transport mechanism 50 is substantially flush with the bottom surface of the cargo space. At this time, the hook assembly 20 is below the conveying surface of the conveying mechanism 50.

In fig. 22 (b), the cargo GS is transported rightward by the transporting action of the transporting mechanism 50 so that a part of the cargo GS enters the cargo space.

In fig. 22 (c), the hook assembly 20 has moved to the left of the cargo GS and moved upward, and enters the space left after the cargo GS moves rightward, at this time, the hook assembly 20 is exposed above the conveying surface of the conveying mechanism 50, and the hooking portion enters the hooking groove on the left surface of the cargo GS.

In fig. 22 (d), the hook assembly 20 moves rightward, pushing the cargo GS to move rightward, thereby bringing the cargo GS entirely into the cargo space.

In fig. 22 (e), the hook assembly 20 is retracted downwardly to an initial position below the conveying surface of the conveying mechanism 50, thereby completing the loading of the goods onto the pallet.

Thus, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.

Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that the foregoing embodiments may be modified and equivalents substituted for elements thereof without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A Fork Mechanism (FM) comprising:

a mounting frame (10);

a hook assembly (20) movably arranged on the mounting frame (10), wherein the hook assembly (20) comprises a hook body (21), and the hook body (21) is provided with a hook part (211) for hooking the Goods (GS); and

the first driving assembly (30) is in driving connection with the hook assembly (20) and is configured to drive the hook assembly (20) to move along a first direction (dr 1) so as to achieve a hooking action on the Goods (GS) in the first direction (dr 1) through the hooking part (211).

2. The Fork Mechanism (FM) according to claim 1, wherein the hook body (21) further has a pushing portion (212) for pushing the Goods (GS), the first drive assembly (30) being further configured to drive the hook assembly (20) to move in a second direction (dr 2) for pushing the Goods (GS) in the second direction (dr 2) by the pushing portion (212).

3. The Fork Mechanism (FM) according to claim 2, wherein the hooking portion (211) and the pushing portion (212) are located on opposite sides of the hooking body (21) in the first direction (dr 1), the second direction (dr 2) being an opposite direction of the first direction (dr 1).

4. The Fork Mechanism (FM) of claim 2, wherein the hook assembly (20) includes a bracket (22) and at least one set of hooks (21) connected to the bracket (22), each set of hooks (21) including a single hook (21) or a plurality of hooks (21) on the same side of the bracket (22).

5. The Fork Mechanism (FM) of claim 4, wherein the at least one set of hooks (21) includes a first set of hooks (21 a) and a second set of hooks (21 b), the first set of hooks (21 a) being located on a side of the bracket (22) away from the second set of hooks (21 b) along the first direction (dr 1), the second set of hooks (21 b) being located on a side of the bracket (22) away from the first set of hooks (21 a) along the second direction (dr 2);

wherein the first drive assembly (30) is configured to:

driving the hooking member (20) to move along the first direction (dr 1) to achieve a hooking action on the Goods (GS) in the first direction (dr 1) by means of the hooking portions (211) of the first set of hooking bodies (21 a), or to achieve a pushing action on the Goods (GS) in the first direction (dr 1) by means of the pushing portions (212) of the second set of hooking bodies (21 b); and/or

The hook assembly (20) is driven to move along the second direction (dr 2) so as to realize the pushing action on the Goods (GS) in the second direction (dr 2) through the pushing part (212) of the first group of hook bodies (21 a), or realize the hooking action on the Goods (GS) in the second direction (dr 2) through the hooking part (211) of the second group of hook bodies (21 b).

6. The Fork Mechanism (FM) of claim 4, wherein at least one set of hooks (21) comprises a single set of hooks (21);

wherein the first drive assembly (30) is configured to:

driving the hook assembly (20) to move along the first direction (dr 1) to achieve a pulling action on the Goods (GS) in the first direction (dr 1) by a pulling part (211) of the single set of hooks (21) in a first rotation position, or to achieve a pushing action on the Goods (GS) in the first direction (dr 1) by a pushing part (212) of the single set of hooks (21) in a second rotation position, wherein the single set of hooks (21) are symmetrical in center by rotating to switch between the first rotation position and the second rotation position; and/or

The hook assembly (20) is driven to move along the second direction (dr 2) so as to realize a pushing action on the Goods (GS) in the second direction (dr 2) through a pushing part (212) of the single-group hook body (21) at a third rotation position, or realize a pulling action on the Goods (GS) in the second direction (dr 2) through a pulling part (211) of the single-group hook body (21) at a fourth rotation position, wherein the single-group hook body (21) is rotated to switch between the third rotation position and the fourth rotation position, and the single-group hook body (21) at the third rotation position and the single-group hook body (21) at the fourth rotation position are centrosymmetric.

7. The Fork Mechanism (FM) according to claim 2, wherein the hooking portion (211) is configured to enter or leave a Hooked Portion (HP) of the Goods (GS) in a direction intersecting both the first direction (dr 1) and the second direction (dr 2).

8. The Fork Mechanism (FM) according to claim 7, wherein the hooking portion (211) is configured to enter a Hooked Portion (HP) of the Goods (GS) in a vertically upward direction.

9. The Fork Mechanism (FM) of claim 2, wherein the first drive assembly (30) includes:

a hook seat (31) connected with the hook component (20); and

the first power element (32) is connected with the hook seat (31) through a first linear transmission structure (33) and is configured to drive the hook seat (31) to move along the first direction (dr 1) or the second direction (dr 2) through the first linear transmission structure (33).

10. The Fork Mechanism (FM) of claim 9, wherein the first linear drive structure (33) includes:

the transmission wheel set (331) is arranged on the mounting frame (10) and is connected with the first power element (32); and

the transmission belt (332) is wound on the transmission wheel set (331) and is fixedly connected with the hook seat (31).

11. The Fork Mechanism (FM) of claim 9, wherein the first drive assembly (30) further comprises:

a first linear guide structure (34) disposed between the hooking seat (31) and the mounting frame (10) and configured to guide movement of the hooking seat (31) relative to the mounting frame (10) in the first direction (dr 1) or the second direction (dr 2).

12. The Fork Mechanism (FM) of claim 11, wherein the first linear guide structure (34) includes:

a first slide rail (341) provided on the mounting frame (10) and extending in the first direction (dr 1); and

the first sliding block (342) is arranged on the hook seat (31) and is in sliding fit with the first sliding rail (341).

13. The Fork Mechanism (FM) according to claim 1 or 2, further comprising:

a second drive assembly (40) drivingly connected to the hook assembly (20) and configured to drive the hook assembly (20) to move in a third direction (dr 3) or in a direction opposite to the third direction (dr 3);

wherein the third direction (dr 3) is perpendicular to the first direction (dr 1).

14. The Fork Mechanism (FM) of claim 13, wherein the first direction (dr 1) is parallel to a horizontal plane and the third direction (dr 3) is parallel to a vertical direction.

15. The Fork Mechanism (FM) of claim 13, wherein the first drive assembly (30) includes a hook base (31) coupled to the hook assembly (20), and the second drive assembly (40) includes:

a second power element (41), coupled to at least one of the hook (31) and the hook (20), is configured to drive the hook (20) to move relative to the hook (31).

16. The Fork Mechanism (FM) of claim 15, wherein the second power element (41) includes:

the first lead screw penetrates through the motor and is provided with a first motor shell (411) fixedly connected with the hook seat (31) and a first lead screw (412) penetrating through the first motor shell (411), one end of the first lead screw (412) is connected with the hook assembly (20), and the other end of the first lead screw penetrates through the hook seat (31).

17. The Fork Mechanism (FM) of claim 15, wherein the second drive assembly (40) further comprises:

a second linear guide structure (42) disposed between the hook base (31) and the hook assembly (20) and configured to guide movement of the hook assembly (20) relative to the hook base (31) in the third direction (dr 3) or in a direction opposite to the third direction (dr 3).

18. The Fork Mechanism (FM) of claim 17, wherein the second linear guide structure (42) includes:

A second slide rail (421) disposed on the hook assembly (20) and extending along the third direction (dr 3); and

the second sliding block (422) is arranged on the hook seat (31) and is in sliding fit with the second sliding rail (421).

19. The Fork Mechanism (FM) of claim 2, further comprising:

-a transport assembly (50) arranged on the mounting frame (10) configured to transport Goods (GS) in the first direction (dr 1) or the second direction (dr 2).

20. The Fork Mechanism (FM) of claim 19, wherein the time ranges for the respective application of the transfer assembly (50) and the hook assembly (20) to the cargo (GS) are configured to be misaligned.

21. The Fork Mechanism (FM) of claim 19, wherein the time ranges of the respective actions of the transfer assembly (50) and the hook assembly (20) on the cargo (GS) are configured to at least partially coincide.

22. The Fork Mechanism (FM) of claim 19, wherein said transmission assembly (50) is located on an upper side of said mounting frame (10), said Fork Mechanism (FM) further comprising:

a second drive assembly (40) drivingly connected to the hook assembly (20) or the first drive assembly (30) and configured to drive the hook assembly (20) in a third direction (dr 3) or in a direction opposite to the third direction (dr 3) to extend and retract the hook assembly (20) relative to a conveying surface of the conveying assembly (50).

23. The Fork Mechanism (FM) of claim 19, wherein the transmission assembly (50) includes: the hook assembly (20) is arranged between the paired conveying members (51) or on one side of at least one conveying member (51) of the paired conveying members (51) away from the other conveying member (51), and is used for driving the paired conveying members (51) to operate.

24. The Fork Mechanism (FM) of claim 1, further comprising:

a bracket (60);

wherein the mounting frame (10) is fixedly, detachably or movably arranged on the bracket (60).

25. The Fork Mechanism (FM) of claim 24, further comprising:

a third drive assembly (70) is disposed on the carriage (60) and is in driving connection with the mounting frame (10) and configured to drive the mounting frame (10) to move relative to the carriage (60) in the first direction (dr 1) or in a direction opposite to the first direction (dr 1).

26. The Fork Mechanism (FM) of claim 25, wherein the third drive assembly (70) includes:

a third power element (71) is coupled to the mount (10) and configured to drive the mount (10) to move relative to the carriage (60).

27. The Fork Mechanism (FM) of claim 26, wherein the third power element (71) includes:

the second lead screw penetrates through the motor and is provided with a second motor shell (711) fixedly connected with the bracket (60) and a second lead screw (712) penetrating through the second motor shell (711), and two ends of the second lead screw (712) are connected with the mounting frame (10).

28. The Fork Mechanism (FM) of claim 26, wherein the third drive assembly (70) further comprises:

a third linear guide structure (72) disposed between the carriage (60) and the mounting frame (10) and configured to guide movement of the mounting frame (10) relative to the carriage (60) in the first direction (dr 1) or in a direction opposite to the first direction (dr 1).

29. The Fork Mechanism (FM) of claim 28, wherein the third linear guide structure (72) includes:

a third slide rail (721) provided on the mount (10) and extending in the first direction (dr 1); and

and a third slider (722) arranged on the bracket (60) and in sliding fit with the third sliding rail (721).

30. A cargo access apparatus comprising:

fork Mechanism (FM) according to any of claims 1-29.

31. The cargo access apparatus of claim 30, further comprising:

at least two first tracks (TR 1) arranged at intervals in at least one direction;

-at least two second tracks (TR 2) movably arranged along said at least two first tracks (TR 1) by means of a running gear (TM);

wherein the Fork Mechanism (FM) is movably arranged along the at least two second rails (TR 2).

32. A warehouse logistics system, comprising:

a Shelf (SR);

the cargo access device of claim 30 or 31, being arranged on the Shelf (SR).